X-Git-Url: https://harrygodden.com/git/?a=blobdiff_plain;f=player_physics.h;h=6afc1b2c43b0f3e1cf560e83ca1baceb9836a05b;hb=0124cd309a7db70cdd74b5661f2df8b862ca2f2f;hp=bb79b850e84f8ac66e4af3ead166d54763a612bf;hpb=0ae443b3f6b4b753f9a2eba58da597ae8cb14b4f;p=carveJwlIkooP6JGAAIwe30JlM.git diff --git a/player_physics.h b/player_physics.h index bb79b85..6afc1b2 100644 --- a/player_physics.h +++ b/player_physics.h @@ -14,42 +14,240 @@ VG_STATIC void apply_gravity( v3f vel, float const timestep ) v3_muladds( vel, gravity, timestep, vel ); } +VG_STATIC struct +grind_edge *player_grind_collect_edge( v3f p0, v3f p1, + v3f c0, v3f c1, float max_dist ) +{ + struct player_phys *phys = &player.phys; + + bh_iter it; + bh_iter_init( 0, &it ); + + boxf region; + + box_init_inf( region ); + box_addpt( region, p0 ); + box_addpt( region, p1 ); + + float k_r = max_dist; + v3_add( (v3f){ k_r, k_r, k_r}, region[1], region[1] ); + v3_add( (v3f){-k_r,-k_r,-k_r}, region[0], region[0] ); + + float closest = k_r*k_r; + struct grind_edge *closest_edge = NULL; + + int idx; + while( bh_next( world.grind_bh, &it, region, &idx ) ) + { + struct grind_edge *edge = &world.grind_edges[ idx ]; + + float s,t; + v3f pa, pb; + + float d2 = + closest_segment_segment( p0, p1, edge->p0, edge->p1, &s,&t, pa, pb ); + + if( d2 < closest ) + { + closest = d2; + closest_edge = edge; + v3_copy( pa, c0 ); + v3_copy( pb, c1 ); + } + } + + return closest_edge; +} + /* - * Called when launching into the air to predict and adjust trajectories + * Cast a sphere from a to b and see what time it hits */ -VG_STATIC void player_start_air(void) +VG_STATIC int spherecast_world( v3f pa, v3f pb, float r, float *t, v3f n ) { struct player_phys *phys = &player.phys; - if( phys->in_air ) - return; + bh_iter it; + bh_iter_init( 0, &it ); - phys->in_air = 1; + boxf region; + box_init_inf( region ); + box_addpt( region, pa ); + box_addpt( region, pb ); + + v3_add( (v3f){ r, r, r}, region[1], region[1] ); + v3_add( (v3f){-r,-r,-r}, region[0], region[0] ); + + v3f dir; + v3_sub( pb, pa, dir ); + + int hit = -1; + float min_t = 1.0f; + + int idx; + while( bh_next( world.geo_bh, &it, region, &idx ) ) + { + u32 *ptri = &world.scene_geo->arrindices[ idx*3 ]; + v3f tri[3]; + + boxf box; + box_init_inf( box ); + + for( int j=0; j<3; j++ ) + { + v3_copy( world.scene_geo->arrvertices[ptri[j]].co, tri[j] ); + box_addpt( box, tri[j] ); + } + + v3_add( (v3f){ r, r, r}, box[1], box[1] ); + v3_add( (v3f){-r,-r,-r}, box[0], box[0] ); + if( !ray_aabb( box, pa, dir, 1.0f ) ) + continue; + + float t; + v3f n1; + if( spherecast_triangle( tri, pa, dir, r, &t, n1 ) ) + { + if( t < min_t ) + { + min_t = t; + hit = idx; + v3_copy( n1, n ); + } + } + } + + *t = min_t; + return hit; +} + +/* + * Trace a path given a velocity rotation. + * Closest to 0 is best. + */ +VG_STATIC void player_predict_land( m3x3f vr, + struct land_prediction *prediction ) +{ + struct player_phys *phys = &player.phys; + + float pstep = VG_TIMESTEP_FIXED * 10.0f; + float k_bias = 0.96f; + + v3f pco, pco1, pv; + v3_copy( phys->rb.co, pco ); + v3_muls( phys->rb.v, k_bias, pv ); + + m3x3_mulv( vr, pv, pv ); + v3_muladds( pco, pv, pstep, pco ); + + struct grind_edge *best_grind = NULL; + float closest_grind = INFINITY; + + float grind_score = INFINITY, + air_score = INFINITY; + + prediction->log_length = 0; + + for( int i=0; ilog); i++ ) + { + v3_copy( pco, pco1 ); + apply_gravity( pv, pstep ); + + m3x3_mulv( vr, pv, pv ); + v3_muladds( pco, pv, pstep, pco ); + + v3f vdir; + + v3_sub( pco, pco1, vdir ); + + float l = v3_length( vdir ); + v3_muls( vdir, 1.0f/l, vdir ); + + v3f c0, c1; + struct grind_edge *ge = player_grind_collect_edge( pco, pco1, + c0, c1, 0.4f ); + + if( ge && (v3_dot((v3f){0.0f,1.0f,0.0f},vdir) < -0.2f ) ) + { + float d2 = v3_dist2( c0, c1 ); + if( d2 < closest_grind ) + { + closest_grind = d2; + best_grind = ge; + grind_score = closest_grind * 0.05f; + } + } + + v3f n1; + + float t1; + int idx = spherecast_world( pco1, pco, 0.4f, &t1, n1 ); + if( idx != -1 ) + { + v3_copy( n1, prediction->n ); + air_score = -v3_dot( pv, n1 ); + + u32 vert_index = world.scene_geo->arrindices[ idx*3 ]; + struct world_material *mat = world_tri_index_material( vert_index ); + + /* Bias prediction towords ramps */ + if( mat->info.flags & k_material_flag_skate_surface ) + air_score *= 0.1f; + + v3_lerp( pco1, pco, t1, prediction->log[ prediction->log_length ++ ] ); + break; + } + + v3_copy( pco, prediction->log[ prediction->log_length ++ ] ); + } + + if( grind_score < air_score ) + { + prediction->score = grind_score; + prediction->type = k_prediction_grind; + } + else if( air_score < INFINITY ) + { + prediction->score = air_score; + prediction->type = k_prediction_land; + } + else + { + prediction->score = INFINITY; + prediction->type = k_prediction_none; + } +} + +/* + * Called when launching into the air to predict and adjust trajectories + */ +VG_STATIC void player_start_air(void) +{ + struct player_phys *phys = &player.phys; float pstep = VG_TIMESTEP_FIXED * 10.0f; float best_velocity_delta = -9999.9f; - float k_bias = 0.96f; v3f axis; v3_cross( phys->rb.up, phys->rb.v, axis ); v3_normalize( axis ); - player.land_log_count = 0; + player.prediction_count = 0; m3x3_identity( phys->vr ); + float + best_vmod = 0.0f, + min_score = INFINITY, + max_score = -INFINITY; + + /* + * Search a broad selection of futures + */ for( int m=-3;m<=12; m++ ) { - float vmod = ((float)m / 15.0f)*0.09f; - - v3f pco, pco1, pv; - v3_copy( phys->rb.co, pco ); - v3_muls( phys->rb.v, k_bias, pv ); + struct land_prediction *p = + &player.predictions[ player.prediction_count ++ ]; - /* - * Try different 'rotations' of the velocity to find the best possible - * landing normal. This conserves magnitude at the expense of slightly - * unrealistic results - */ + float vmod = ((float)m / 15.0f)*0.09f; m3x3f vr; v4f vr_q; @@ -57,59 +255,81 @@ VG_STATIC void player_start_air(void) q_axis_angle( vr_q, axis, vmod ); q_m3x3( vr_q, vr ); - m3x3_mulv( vr, pv, pv ); - v3_muladds( pco, pv, pstep, pco ); + player_predict_land( vr, p ); - for( int i=0; i<50; i++ ) + if( p->type != k_prediction_none ) { - v3_copy( pco, pco1 ); - apply_gravity( pv, pstep ); + if( p->score < min_score ) + { + min_score = p->score; + best_vmod = vmod; + } - m3x3_mulv( vr, pv, pv ); - v3_muladds( pco, pv, pstep, pco ); - - ray_hit contact; - v3f vdir; + if( p->score > max_score ) + max_score = p->score; + } + } - v3_sub( pco, pco1, vdir ); - contact.dist = v3_length( vdir ); - v3_divs( vdir, contact.dist, vdir); + v4f vr_q; + q_axis_angle( vr_q, axis, best_vmod*0.1f ); + q_m3x3( vr_q, phys->vr ); - if( ray_world( pco1, vdir, &contact )) - { - float land_delta = v3_dot( pv, contact.normal ); - u32 scolour = (u8)(vg_minf(-land_delta * 2.0f, 255.0f)); + q_axis_angle( vr_q, axis, best_vmod ); + q_m3x3( vr_q, phys->vr_pstep ); - /* Bias prediction towords ramps */ - if( ray_hit_material( &contact )->info.flags - & k_material_flag_skate_surface ) - { - land_delta *= 0.1f; - scolour |= 0x0000a000; - } + /* + * Logging + */ + for( int i=0; i best_velocity_delta) ) - { - best_velocity_delta = land_delta; + float l = p->score; - v3_copy( contact.pos, player.land_target ); - - m3x3_copy( vr, phys->vr_pstep ); - q_axis_angle( vr_q, axis, vmod*0.1f ); - q_m3x3( vr_q, phys->vr ); - } + if( l < 0.0f ) + { + vg_error( "negative score! (%f)\n", l ); + } + + l -= min_score; + l /= (max_score-min_score); + l = 1.0f - l; + l *= 255.0f; - v3_copy( contact.pos, - player.land_target_log[player.land_log_count] ); - player.land_target_colours[player.land_log_count] = - 0xff000000 | scolour; + p->colour = l; + p->colour <<= 8; + p->colour |= 0xff000000; + } +} - player.land_log_count ++; - break; - } - } +VG_STATIC void player_physics_control_passive(void) +{ + struct player_phys *phys = &player.phys; + float grabt = player.input_grab->axis.value; + + if( grabt > 0.5f ) + { + v2_muladds( phys->grab_mouse_delta, vg.mouse_delta, 0.02f, + phys->grab_mouse_delta ); + v2_normalize_clamp( phys->grab_mouse_delta ); + + if( freecam ) + v2_zero( phys->grab_mouse_delta ); } + else + v2_zero( phys->grab_mouse_delta ); + + phys->grab = vg_lerpf( phys->grab, grabt, 0.14f ); + player.phys.pushing = 0.0f; + + if( !phys->jump_charge || phys->in_air ) + { + phys->jump -= k_jump_charge_speed * VG_TIMESTEP_FIXED; + } + + phys->jump_charge = 0; + phys->jump = vg_clampf( phys->jump, 0.0f, 1.0f ); } /* @@ -136,21 +356,13 @@ VG_STATIC void player_physics_control(void) phys->slip = slip; phys->reverse = -vg_signf(vel[2]); - float substep = VG_TIMESTEP_FIXED * 0.2f; - -#if 0 - float fwd_resistance = vg_get_button( "break" )? 5.0f: k_friction_resistance; -#else + float substep = VG_TIMESTEP_FIXED; float fwd_resistance = k_friction_resistance; -#endif - for( int i=0; i<5; i++ ) - { - vel[2] = stable_force( vel[2],vg_signf(vel[2]) * -fwd_resistance*substep); - vel[0] = stable_force( vel[0],vg_signf(vel[0]) * -k_friction_lat*substep); - } + vel[2] = stable_force( vel[2],vg_signf(vel[2]) * -fwd_resistance*substep); + vel[0] = stable_force( vel[0],vg_signf(vel[0]) * -k_friction_lat*substep); - if( vg_get_button( "jump" ) ) + if( player.input_jump->button.value ) { phys->jump += VG_TIMESTEP_FIXED * k_jump_charge_speed; @@ -161,15 +373,15 @@ VG_STATIC void player_physics_control(void) } static int push_thresh_last = 0; - float push_amt = vg_get_axis( "walk/push" ) * 0.5f + 0.5f; - int push_thresh = push_amt>0.15f? 1: 0; + float push = player.input_push->button.value; + int push_thresh = push>0.15f? 1: 0; if( push_thresh && !push_thresh_last ) player.phys.start_push = vg.time; push_thresh_last = push_thresh; - if( !vg_get_button("jump") && push_thresh ) + if( !player.input_jump->button.value && push_thresh ) { player.phys.pushing = 1.0f; player.phys.push_time = vg.time - player.phys.start_push; @@ -183,25 +395,121 @@ VG_STATIC void player_physics_control(void) vel[2] -= new_vel * phys->reverse; } - /* Pumping */ - static float previous = 0.0f; - float delta = previous - phys->grab, - pump = delta * k_pump_force * VG_TIMESTEP_FIXED; - previous = phys->grab; - - v3f p1; - v3_muladds( phys->rb.co, phys->rb.up, pump, p1 ); - vg_line( phys->rb.co, p1, 0xff0000ff ); - - vel[1] += pump; - - m3x3_mulv( phys->rb.to_world, vel, phys->rb.v ); - float steer = vg_get_axis( "lookh" ), + float input = player.input_js1h->axis.value, + grab = player.input_grab->axis.value, + steer = input * (1.0f-(phys->jump+grab)*0.4f), steer_scaled = vg_signf(steer) * powf(steer,2.0f) * k_steer_ground; phys->iY -= steer_scaled * VG_TIMESTEP_FIXED; + + + /* + * EXPERIMENTAL + * =============================================== + */ +#if 0 + v3f cog_ideal, diff; + + v3_muladds( phys->rb.co, phys->rb.up, 1.0f-grab, cog_ideal ); + v3_sub( cog_ideal, phys->cog, diff ); + + /* temp */ + if( v3_length2( diff ) > 20.0f*20.0f ) + v3_copy( cog_ideal, phys->cog ); + else + { + float rate_lat = k_cog_spring_lat * VG_TIMESTEP_FIXED, + rate_vert = k_cog_spring_vert * VG_TIMESTEP_FIXED, + vert_amt = v3_dot( diff, phys->rb.up ); + + /* Split into vert/lat springs */ + v3f diff_vert, diff_lat; + v3_muladds( diff, phys->rb.up, -vert_amt, diff_lat ); + v3_muls( phys->rb.up, vert_amt, diff_vert ); + + + if( diff[1] > 0.0f ) + rate_vert *= k_cog_boost_multiplier; + + float ap_a = k_cog_mass_ratio, + ap_b = -(1.0f-k_cog_mass_ratio); + + v3_muladds( phys->cog_v, diff_lat, rate_lat * ap_a, phys->cog_v ); + v3_muladds( phys->cog_v, diff_vert, rate_vert * ap_a, phys->cog_v ); + + //v3_muladds( phys->rb.v, diff_lat, rate_lat * ap_b, phys->rb.v ); + v3_muladds( phys->rb.v, diff_vert, rate_vert * ap_b, phys->rb.v ); + + /* dampen */ + v3_muls( phys->cog_v, 1.0f-(VG_TIMESTEP_FIXED*k_cog_damp), phys->cog_v ); + + /* integrate */ + v3_muladds( phys->cog, phys->cog_v, VG_TIMESTEP_FIXED, phys->cog ); + } + + + /* + * EXPERIMENTAL + * =============================================== + */ +#endif + + + if( !phys->jump_charge && phys->jump > 0.2f ) + { + v3f jumpdir; + + /* Launch more up if alignment is up else improve velocity */ + float aup = fabsf(v3_dot( (v3f){0.0f,1.0f,0.0f}, phys->rb.up )), + mod = 0.5f, + dir = mod + aup*(1.0f-mod); + + v3_copy( phys->rb.v, jumpdir ); + v3_normalize( jumpdir ); + v3_muls( jumpdir, 1.0f-dir, jumpdir ); + v3_muladds( jumpdir, phys->rb.up, dir, jumpdir ); + v3_normalize( jumpdir ); + + float force = k_jump_force*phys->jump; + v3_muladds( phys->rb.v, jumpdir, force, phys->rb.v ); + phys->jump = 0.0f; + + player.jump_time = vg.time; + + /* TODO: Move to audio file */ + audio_lock(); + audio_player_set_flags( &audio_player_extra, AUDIO_FLAG_SPACIAL_3D ); + audio_player_set_position( &audio_player_extra, phys->rb.co ); + audio_player_set_vol( &audio_player_extra, 20.0f ); + audio_player_playclip( &audio_player_extra, &audio_jumps[rand()%2] ); + audio_unlock(); + } +} + +VG_STATIC void player_physics_control_grind(void) +{ + struct player_phys *phys = &player.phys; + v2f steer = { player.input_js1h->axis.value, + player.input_js1v->axis.value }; + + float l2 = v2_length2( steer ); + if( l2 > 1.0f ) + v2_muls( steer, 1.0f/sqrtf(l2), steer ); + + phys->iY -= steer[0] * k_steer_air * VG_TIMESTEP_FIXED; + + float iX = steer[1] * phys->reverse * k_steer_air * VG_TIMESTEP_FIXED; + + static float siX = 0.0f; + siX = vg_lerpf( siX, iX, k_steer_air_lerp ); + + v4f rotate; + q_axis_angle( rotate, phys->rb.right, siX ); + q_mul( rotate, phys->rb.q, phys->rb.q ); + + phys->slip = 0.0f; } /* @@ -212,26 +520,33 @@ VG_STATIC void player_physics_control_air(void) struct player_phys *phys = &player.phys; m3x3_mulv( phys->vr, phys->rb.v, phys->rb.v ); - vg_line_cross( player.land_target, 0xff0000ff, 0.25f ); + //vg_line_cross( player.land_target, 0xff0000ff, 0.25f ); ray_hit hit; /* * Prediction */ - float pstep = VG_TIMESTEP_FIXED * 10.0f; + float pstep = VG_TIMESTEP_FIXED * 1.0f; + float k_bias = 0.98f; v3f pco, pco1, pv; v3_copy( phys->rb.co, pco ); - v3_copy( phys->rb.v, pv ); + v3_muls( phys->rb.v, 1.0f, pv ); float time_to_impact = 0.0f; float limiter = 1.0f; - for( int i=0; i<50; i++ ) + struct grind_edge *best_grind = NULL; + float closest_grind = INFINITY; + + v3f target_normal = { 0.0f, 1.0f, 0.0f }; + int has_target = 0; + + for( int i=0; i<250; i++ ) { v3_copy( pco, pco1 ); - m3x3_mulv( phys->vr_pstep, pv, pv ); + m3x3_mulv( phys->vr, pv, pv ); apply_gravity( pv, pstep ); v3_muladds( pco, pv, pstep, pco ); @@ -241,71 +556,114 @@ VG_STATIC void player_physics_control_air(void) v3_sub( pco, pco1, vdir ); contact.dist = v3_length( vdir ); v3_divs( vdir, contact.dist, vdir); + + v3f c0, c1; + struct grind_edge *ge = player_grind_collect_edge( pco, pco1, + c0, c1, 0.4f ); + + if( ge && (v3_dot((v3f){0.0f,1.0f,0.0f},vdir) < -0.2f ) ) + { + vg_line( ge->p0, ge->p1, 0xff0000ff ); + vg_line_cross( pco, 0xff0000ff, 0.25f ); + has_target = 1; + break; + } float orig_dist = contact.dist; - if( ray_world( pco1, vdir, &contact )) + if( ray_world( pco1, vdir, &contact ) ) { - float angle = v3_dot( phys->rb.up, contact.normal ); - v3f axis; - v3_cross( phys->rb.up, contact.normal, axis ); - + v3_copy( contact.normal, target_normal ); + has_target = 1; time_to_impact += (contact.dist/orig_dist)*pstep; - limiter = vg_minf( 5.0f, time_to_impact )/5.0f; - limiter = 1.0f-limiter; - limiter *= limiter; - limiter = 1.0f-limiter; - - if( angle < 0.99f ) - { - v4f correction; - q_axis_angle( correction, axis, - acosf(angle)*(1.0f-limiter)*3.0f*VG_TIMESTEP_FIXED ); - q_mul( correction, phys->rb.q, phys->rb.q ); - } - vg_line_cross( contact.pos, 0xffff0000, 0.25f ); break; } time_to_impact += pstep; } - phys->iY -= vg_get_axis( "lookh" ) * k_steer_air * VG_TIMESTEP_FIXED; + if( has_target ) { - float iX = vg_get_axis( "lookv" ) * - phys->reverse * k_steer_air * limiter * VG_TIMESTEP_FIXED; + float angle = v3_dot( phys->rb.up, target_normal ); + v3f axis; + v3_cross( phys->rb.up, target_normal, axis ); - static float siX = 0.0f; - siX = vg_lerpf( siX, iX, k_steer_air_lerp ); - - v4f rotate; - q_axis_angle( rotate, phys->rb.right, siX ); - q_mul( rotate, phys->rb.q, phys->rb.q ); + limiter = vg_minf( 5.0f, time_to_impact )/5.0f; + limiter = 1.0f-limiter; + limiter *= limiter; + limiter = 1.0f-limiter; + + if( fabsf(angle) < 0.99f ) + { + v4f correction; + q_axis_angle( correction, axis, + acosf(angle)*(1.0f-limiter)*3.0f*VG_TIMESTEP_FIXED ); + q_mul( correction, phys->rb.q, phys->rb.q ); + } } + + v2f steer = { player.input_js1h->axis.value, + player.input_js1v->axis.value }; + + float l2 = v2_length2( steer ); + if( l2 > 1.0f ) + v2_muls( steer, 1.0f/sqrtf(l2), steer ); + + phys->iY -= steer[0] * k_steer_air * VG_TIMESTEP_FIXED; + + float iX = steer[1] * + phys->reverse * k_steer_air * limiter * VG_TIMESTEP_FIXED; + + static float siX = 0.0f; + siX = vg_lerpf( siX, iX, k_steer_air_lerp ); + v4f rotate; + q_axis_angle( rotate, phys->rb.right, siX ); + q_mul( rotate, phys->rb.q, phys->rb.q ); + +#if 0 v2f target = {0.0f,0.0f}; v2_muladds( target, (v2f){ vg_get_axis("grabh"), vg_get_axis("grabv") }, phys->grab, target ); +#endif } -/* - * Entire Walking physics model - * TODO: sleep when under certain velotiy - */ -VG_STATIC void player_walk_physics(void) +VG_STATIC void player_walk_collider_configuration(void) { struct player_phys *phys = &player.phys; + float h0 = 0.3f, + h1 = 0.9f; + + rigidbody *rbf = &player.collide_front, + *rbb = &player.collide_back; + + v3_add( phys->rb.co, (v3f){0.0f,h0,0.0f}, rbf->co ); + v3_add( phys->rb.co, (v3f){0.0f,h1,0.0f}, rbb->co ); + v3_copy( rbf->co, rbf->to_world[3] ); + v3_copy( rbb->co, rbb->to_world[3] ); + m4x3_invert_affine( rbf->to_world, rbf->to_local ); + m4x3_invert_affine( rbb->to_world, rbb->to_local ); + + rb_update_bounds( rbf ); + rb_update_bounds( rbb ); +} + +VG_STATIC void player_regular_collider_configuration(void) +{ + struct player_phys *phys = &player.phys; + + /* Standard ground configuration */ rigidbody *rbf = &player.collide_front, *rbb = &player.collide_back; m3x3_copy( phys->rb.to_world, player.collide_front.to_world ); m3x3_copy( phys->rb.to_world, player.collide_back.to_world ); - float h0 = 0.3f, - h1 = 0.9f; + player.air_blend = vg_lerpf( player.air_blend, phys->in_air, 0.1f ); + float h = player.air_blend*0.0f; - m4x3_mulv( phys->rb.to_world, (v3f){0.0f,h0,0.0f}, rbf->co ); + m4x3_mulv( phys->rb.to_world, (v3f){0.0f,h,-k_board_length}, rbf->co ); v3_copy( rbf->co, rbf->to_world[3] ); - m4x3_mulv( phys->rb.to_world, (v3f){0.0f,h1,0.0f}, rbb->co ); + m4x3_mulv( phys->rb.to_world, (v3f){0.0f,h, k_board_length}, rbb->co ); v3_copy( rbb->co, rbb->to_world[3] ); m4x3_invert_affine( rbf->to_world, rbf->to_local ); @@ -313,172 +671,611 @@ VG_STATIC void player_walk_physics(void) rb_update_bounds( rbf ); rb_update_bounds( rbb ); +} + +VG_STATIC void player_integrate(void); + +VG_STATIC int player_walk_surface_standable( v3f n ) +{ + return v3_dot( n, (v3f){0.0f,1.0f,0.0f} ) > 0.5f; +} + +VG_STATIC void player_walk_stepdown(void) +{ + struct player_phys *phys = &player.phys; + float max_dist = 0.4f; - rb_debug( rbf, 0xff0000ff ); - rb_debug( rbb, 0xff0000ff ); + v3f pa, pb; + v3_copy( phys->rb.co, pa ); + pa[1] += 0.3f; + + v3_muladds( pa, (v3f){0.01f,1.0f,0.01f}, -max_dist, pb ); + vg_line( pa, pb, 0xff000000 ); + + /* TODO: Make #define */ + float r = 0.3f, + t; + + v3f n; + if( spherecast_world( pa, pb, r, &t, n ) != -1 ) + { + if( player_walk_surface_standable( n ) ) + { + phys->in_air = 0; + v3_lerp( pa, pb, t+0.001f, phys->rb.co ); + phys->rb.co[1] -= 0.3f; + } + } +} + +VG_STATIC int player_update_collision_manifold( rb_ct *manifold ); +VG_STATIC void player_walk_physics(void) +{ + struct player_phys *phys = &player.phys; + rigidbody *rbf = &player.collide_front, + *rbb = &player.collide_back; + + m3x3_identity( player.collide_front.to_world ); + m3x3_identity( player.collide_back.to_world ); + + v3_zero( phys->rb.w ); + q_axis_angle( phys->rb.q, (v3f){0.0f,1.0f,0.0f}, -player.angles[0] ); rb_ct manifold[64]; - int len = 0; + int len; + + v3f forward_dir = { sinf(player.angles[0]),0.0f,-cosf(player.angles[0]) }; + v3f right_dir = { -forward_dir[2], 0.0f, forward_dir[0] }; - len += rb_sphere_scene( rbf, &world.rb_geo, manifold+len ); - len += rb_sphere_scene( rbb, &world.rb_geo, manifold+len ); + v2f walk = { player.input_walkh->axis.value, + player.input_walkv->axis.value }; - rb_presolve_contacts( manifold, len ); + if( freecam ) + v2_zero( walk ); + + if( v2_length2(walk) > 0.001f ) + v2_normalize_clamp( walk ); - for( int j=0; j<5; j++ ) + if( phys->in_air ) { + player_walk_collider_configuration(); + + /* allow player to accelerate a bit */ + v3f walk_3d; + v3_muls( forward_dir, walk[1], walk_3d ); + v3_muladds( walk_3d, right_dir, walk[0], walk_3d ); + + float current_vel = fabsf(v3_dot( walk_3d, phys->rb.v )), + new_vel = current_vel + VG_TIMESTEP_FIXED*k_air_accelerate, + clamped_new = vg_clampf( new_vel, 0.0f, k_walkspeed ), + vel_diff = vg_maxf( 0.0f, clamped_new - current_vel ); + + v3_muladds( phys->rb.v, right_dir, walk[0] * vel_diff, phys->rb.v ); + v3_muladds( phys->rb.v, forward_dir, walk[1] * vel_diff, phys->rb.v ); + + + len = player_update_collision_manifold( manifold ); + rb_presolve_contacts( manifold, len ); + for( int i=0; irb.v, ct->n ); - vn += ct->bias; + if( v3_dot( ct->n, (v3f){0.0f,1.0f,0.0f} ) > 0.5f ) + phys->in_air = 0; + } - float temp = ct->norm_impulse; - ct->norm_impulse = vg_maxf( temp + vn, 0.0f ); - vn = ct->norm_impulse - temp; + for( int j=0; j<5; j++ ) + { + for( int i=0; irb.v, ct->n ); + vn += ct->bias; - v3f impulse; - v3_muls( ct->n, vn, impulse ); + float temp = ct->norm_impulse; + ct->norm_impulse = vg_maxf( temp + vn, 0.0f ); + vn = ct->norm_impulse - temp; - v3_add( impulse, phys->rb.v, phys->rb.v ); + v3f impulse; + v3_muls( ct->n, vn, impulse ); + + v3_add( impulse, phys->rb.v, phys->rb.v ); + + /* friction */ + for( int j=0; j<2; j++ ) + { + float f = k_friction * ct->norm_impulse, + vt = v3_dot( phys->rb.v, ct->t[j] ), + lambda = -vt; + + float temp = ct->tangent_impulse[j]; + ct->tangent_impulse[j] = vg_clampf( temp + lambda, -f, f ); + lambda = ct->tangent_impulse[j] - temp; + + v3_muladds( phys->rb.v, ct->t[j], lambda, phys->rb.v ); + } + } + } + + player_integrate(); + } + else + { + player.walk = v2_length( walk ); + + if( player.input_walk->button.value ) + v2_muls( walk, 0.5f, walk ); + + v2_muls( walk, k_walkspeed * VG_TIMESTEP_FIXED, walk ); + + /* Do XY translation */ + v3f walk_apply, walk_measured; + v3_zero( walk_apply ); + v3_muladds( walk_apply, right_dir, walk[0], walk_apply ); + v3_muladds( walk_apply, forward_dir, walk[1], walk_apply ); + v3_add( walk_apply, phys->rb.co, phys->rb.co ); + + /* Directly resolve collisions */ + player_walk_collider_configuration(); + len = player_update_collision_manifold( manifold ); + + v3f dt; + v3_zero( dt ); + for( int j=0; j<8; j++ ) + { + for( int i=0; in, dt ), + remaining = (ct->p-k_penetration_slop) - resolved_amt, + apply = vg_maxf( remaining, 0.0f ) * 0.3f; + + v3_muladds( dt, ct->n, apply, dt ); + } + } + v3_add( dt, phys->rb.co, phys->rb.co ); + + v3_add( dt, walk_apply, walk_measured ); + v3_divs( walk_measured, VG_TIMESTEP_FIXED, phys->rb.v ); + + if( len ) + { + struct world_material *surface_mat = world_contact_material(manifold); + player.surface_prop = surface_mat->info.surface_prop; + } + + /* jump */ + if( player.input_jump->button.value ) + { + phys->rb.v[1] = 5.0f; + phys->in_air = 1; + return; + } + + /* Check if grounded by current manifold */ + phys->in_air = 1; + for( int i=0; in ) ) + phys->in_air = 0; + } + + /* otherwise... */ + if( phys->in_air ) + player_walk_stepdown(); + } +} + +VG_STATIC void player_grind(void) +{ + struct player_phys *phys = &player.phys; + + v3f closest; + int idx = bh_closest_point( world.grind_bh, phys->rb.co, closest, INFINITY ); + if( idx == -1 ) + return; + + struct grind_edge *edge = &world.grind_edges[ idx ]; + + vg_line( phys->rb.co, closest, 0xff000000 ); + vg_line_cross( closest, 0xff000000, 0.3f ); + vg_line( edge->p0, edge->p1, 0xff000000 ); + + v3f grind_delta; + v3_sub( closest, phys->rb.co, grind_delta ); + + float p = v3_dot( phys->rb.forward, grind_delta ); + v3_muladds( grind_delta, phys->rb.forward, -p, grind_delta ); + + float a = vg_maxf( 0.0f, 4.0f-v3_dist2( closest, phys->rb.co ) ); + v3_muladds( phys->rb.v, grind_delta, a*0.2f, phys->rb.v ); +} + +VG_STATIC int player_update_grind_collision( rb_ct *contact ) +{ + struct player_phys *phys = &player.phys; + + v3f p0, p1, c0, c1; + v3_muladds( phys->rb.co, phys->rb.forward, 0.5f, p0 ); + v3_muladds( phys->rb.co, phys->rb.forward, -0.5f, p1 ); + v3_muladds( p0, phys->rb.up, 0.125f-0.15f, p0 ); + v3_muladds( p1, phys->rb.up, 0.125f-0.15f, p1 ); + + float const k_r = 0.25f; + struct grind_edge *closest_edge = player_grind_collect_edge( p0, p1, + c0, c1, k_r ); + + +#if 0 + vg_line( p0, p1, 0xff0000ff ); +#endif + + if( closest_edge ) + { +#if 0 + vg_line_cross( c0, 0xff000000, 0.1f ); + vg_line_cross( c1, 0xff000000, 0.1f ); + vg_line( c0, c1, 0xff000000 ); +#endif + + v3f delta; + v3_sub( c1, c0, delta ); + + if( v3_dot( delta, phys->rb.up ) > 0.0001f ) + { + contact->p = v3_length( delta ); + contact->type = k_contact_type_edge; + contact->element_id = 0; + v3_copy( c1, contact->co ); + contact->rba = &player.phys.rb; + contact->rbb = &world.rb_geo; + + v3f edge_dir, axis_dir; + v3_sub( closest_edge->p1, closest_edge->p0, edge_dir ); + v3_normalize( edge_dir ); + v3_cross( (v3f){0.0f,1.0f,0.0f}, edge_dir, axis_dir ); + v3_cross( edge_dir, axis_dir, contact->n ); + +#if 0 + vg_info( "%f %f\n", v3_length( contact->n ), contact->p ); +#endif + + return 1; + } + else + return -1; + } + + return 0; +} + +/* Manifold must be able to hold at least 64 elements */ +VG_STATIC int player_update_collision_manifold( rb_ct *manifold ) +{ + struct player_phys *phys = &player.phys; + + rigidbody *rbf = &player.collide_front, + *rbb = &player.collide_back; + + rb_debug( rbf, 0xff00ffff ); + rb_debug( rbb, 0xffffff00 ); + + +#if 0 + phys->rise = vg_lerpf( phys->rise, phys->in_air? -0.25f: 0.0f, + VG_TIMESTEP_FIXED ); +#endif + + int len_f = 0, + len_b = 0; + + len_f = rb_sphere_scene( rbf, &world.rb_geo, manifold ); + rb_manifold_filter_coplanar( manifold, len_f, 0.05f ); + if( len_f > 1 ) + { + rb_manifold_filter_backface( manifold, len_f ); + rb_manifold_filter_joint_edges( manifold, len_f, 0.05f ); + rb_manifold_filter_pairs( manifold, len_f, 0.05f ); + } + int new_len_f = rb_manifold_apply_filtered( manifold, len_f ); + if( len_f && !new_len_f ) + len_f = 1; + else + len_f = new_len_f; + + rb_ct *man_b = &manifold[len_f]; + len_b = rb_sphere_scene( rbb, &world.rb_geo, man_b ); + rb_manifold_filter_coplanar( man_b, len_b, 0.05f ); + if( len_b > 1 ) + { + rb_manifold_filter_backface( man_b, len_b ); + rb_manifold_filter_joint_edges( man_b, len_b, 0.05f ); + rb_manifold_filter_pairs( man_b, len_b, 0.05f ); + } + int new_len_b = rb_manifold_apply_filtered( man_b, len_b ); + if( len_b && !new_len_b ) + len_b = 1; + else + len_b = new_len_b; + + return len_f + len_b; +} + +VG_STATIC void player_adhere_ground( rb_ct *manifold, int len ) +{ + struct player_phys *phys = &player.phys; + int was_in_air = phys->in_air; + + v3f surface_avg; + v3_zero( surface_avg ); + + /* + * + * EXPERIMENTAL + * ================================================================ + */ + if( phys->in_air ) + player.normal_pressure = 0.0f; + else + player.normal_pressure = v3_dot( phys->rb.up, phys->rb.v ); + + v3f p0_0, p0_1, + p1_0, p1_1, + n0, n1; + float t0, t1; + + float mod = 0.7f * player.input_grab->axis.value + 0.3f, + spring_k = mod * k_spring_force, + damp_K = mod * k_spring_dampener, + disp_k = 0.4f; + + v3_copy( player.collide_front.co, p0_0 ); + v3_copy( player.collide_back.co, p1_0 ); + + v3_muladds( p0_0, phys->rb.up, -disp_k, p0_1 ); + v3_muladds( p1_0, phys->rb.up, -disp_k, p1_1 ); + + int cast0 = spherecast_world( p0_0, p0_1, 0.2f, &t0, n0 ), + cast1 = spherecast_world( p1_0, p1_1, 0.2f, &t1, n1 ); + + v3f animp0, animp1; + + m4x3f temp; + m3x3_copy( phys->rb.to_world, temp ); + if( cast0 != -1 ) + { + v3_lerp( p0_0, p0_1, t0, temp[3] ); + v3_copy( temp[3], animp0 ); + debug_sphere( temp, 0.2f, VG__PINK ); + + v3f F, delta; + v3_sub( p0_0, phys->rb.co, delta ); + + float displacement = vg_clampf( 1.0f-t0, 0.0f, 1.0f ), + damp = vg_maxf( 0.0f, v3_dot( phys->rb.up, phys->rb.v ) ); + v3_muls( phys->rb.up, displacement*spring_k*k_rb_delta - + damp*damp_K*k_rb_delta, F ); + + v3_muladds( phys->rb.v, F, 1.0f, phys->rb.v ); + + /* Angular velocity */ + v3f wa; + v3_cross( delta, F, wa ); + v3_muladds( phys->rb.w, wa, k_spring_angular, phys->rb.w ); + } + else + v3_copy( p0_1, animp0 ); + + if( cast1 != -1 ) + { + v3_lerp( p1_0, p1_1, t1, temp[3] ); + v3_copy( temp[3], animp1 ); + debug_sphere( temp, 0.2f, VG__PINK ); + + v3f F, delta; + v3_sub( p1_0, phys->rb.co, delta ); + + float displacement = vg_clampf( 1.0f-t1, 0.0f, 1.0f ), + damp = vg_maxf( 0.0f, v3_dot( phys->rb.up, phys->rb.v ) ); + v3_muls( phys->rb.up, displacement*spring_k*k_rb_delta - + damp*damp_K*k_rb_delta, F ); + + v3_muladds( phys->rb.v, F, 1.0f, phys->rb.v ); + + /* Angular velocity */ + v3f wa; + v3_cross( delta, F, wa ); + v3_muladds( phys->rb.w, wa, k_spring_angular, phys->rb.w ); + } + else + v3_copy( p1_1, animp1 ); + + v3f animavg, animdelta; + v3_add( animp0, animp1, animavg ); + v3_muls( animavg, 0.5f, animavg ); + + v3_sub( animp1, animp0, animdelta ); + v3_normalize( animdelta ); + + m4x3_mulv( phys->rb.to_local, animavg, player.board_offset ); + + float dx = -v3_dot( animdelta, phys->rb.forward ), + dy = v3_dot( animdelta, phys->rb.up ); - /* friction */ - for( int j=0; j<2; j++ ) - { - float f = k_friction * ct->norm_impulse, - vt = v3_dot( phys->rb.v, ct->t[j] ), - lambda = -vt; - - float temp = ct->tangent_impulse[j]; - ct->tangent_impulse[j] = vg_clampf( temp + lambda, -f, f ); - lambda = ct->tangent_impulse[j] - temp; + float angle = -atan2f( dy, dx ); + q_axis_angle( player.board_rotation, (v3f){ 1.0f, 0.0f, 0.0f }, angle ); - v3_muladds( phys->rb.v, ct->t[j], lambda, phys->rb.v ); - } - } - } + /* + * ================================================================ + * EXPERIMENTAL + */ - if( len == 0 ) - phys->in_air = 1; - else + if( len == 0 && !((cast0 !=-1)&&(cast1!=-1)) ) { - phys->in_air = 0; - struct world_material *surface_mat = world_contact_material( manifold ); - player.surface_prop = surface_mat->info.surface_prop; - } + phys->lift_frames ++; - if( !phys->in_air ) + if( phys->lift_frames >= 8 ) + phys->in_air = 1; + } + else { - float const DOWNFORCE = -k_walk_downforce*VG_TIMESTEP_FIXED; - v3_muladds( phys->rb.v, (v3f){0.0f,-1.0f,0.0f}, DOWNFORCE, phys->rb.v ); - - if( vg_get_button("jump") ) + for( int i=0; irb.v, surface_avg ) > 0.7f ) { - phys->rb.v[1] = 5.0f; + phys->lift_frames ++; + + if( phys->lift_frames >= 8 ) + phys->in_air = 1; } - } - - v3_zero( phys->rb.w ); - q_axis_angle( phys->rb.q, (v3f){0.0f,1.0f,0.0f}, -player.angles[0] ); + else + { + phys->in_air = 0; + phys->lift_frames = 0; + v3f projected, axis; - v3f forward_dir = { sinf(player.angles[0]),0.0f,-cosf(player.angles[0]) }; + float const DOWNFORCE = -k_downforce*VG_TIMESTEP_FIXED; + v3_muladds( phys->rb.v, phys->rb.up, DOWNFORCE, phys->rb.v ); - v3f p1; - v3_muladds( phys->rb.co, forward_dir, 2.0f, p1 ); - vg_line( phys->rb.co, p1, 0xff0000ff ); + float d = v3_dot( phys->rb.forward, surface_avg ); + v3_muladds( surface_avg, phys->rb.forward, -d, projected ); + v3_normalize( projected ); - player.walk = powf( vg_get_axis("walk/push")*0.5f + 0.5f, 4.0f ); + float angle = v3_dot( phys->rb.up, projected ); + v3_cross( phys->rb.up, projected, axis ); - if( player.walk > 0.025f ) - { - float - speed = vg_lerpf( 0.025f*k_runspeed, k_runspeed, player.walk ), - amt = k_walk_accel * VG_TIMESTEP_FIXED, - zvel = v3_dot( phys->rb.v, forward_dir ), - new_vel = vg_minf( zvel + amt, speed ), - diff = new_vel - vg_minf( zvel, speed ); +#if 0 + v3f p0, p1; + v3_add( phys->rb.co, projected, p0 ); + v3_add( phys->rb.co, phys->rb.up, p1 ); + vg_line( phys->rb.co, p0, 0xff00ff00 ); + vg_line( phys->rb.co, p1, 0xff000fff ); +#endif - if( !phys->in_air ) - { - v3_muladds( phys->rb.v, forward_dir, diff, phys->rb.v ); + if( fabsf(angle) < 0.999f ) + { + v4f correction; + q_axis_angle( correction, axis, + acosf(angle)*4.0f*VG_TIMESTEP_FIXED ); + q_mul( correction, phys->rb.q, phys->rb.q ); + } } } - - if( !phys->in_air ) - { - phys->rb.v[0] *= 1.0f - (VG_TIMESTEP_FIXED * k_walk_friction); - phys->rb.v[2] *= 1.0f - (VG_TIMESTEP_FIXED * k_walk_friction); - } + + if( !was_in_air && phys->in_air ) + player_start_air(); } -/* - * Physics collision detection, and control - */ -VG_STATIC void player_physics(void) +VG_STATIC void player_collision_response( rb_ct *manifold, int len ) { struct player_phys *phys = &player.phys; + /* - * Update collision fronts + * EXPERIMENTAL + * =============================================== */ - - rigidbody *rbf = &player.collide_front, - *rbb = &player.collide_back; - - m3x3_copy( phys->rb.to_world, player.collide_front.to_world ); - m3x3_copy( phys->rb.to_world, player.collide_back.to_world ); - - player.air_blend = vg_lerpf( player.air_blend, phys->in_air, 0.1f ); - float h = player.air_blend*0.2f; - - m4x3_mulv( phys->rb.to_world, (v3f){0.0f,h,-k_board_length}, rbf->co ); - v3_copy( rbf->co, rbf->to_world[3] ); - m4x3_mulv( phys->rb.to_world, (v3f){0.0f,h, k_board_length}, rbb->co ); - v3_copy( rbb->co, rbb->to_world[3] ); - - m4x3_invert_affine( rbf->to_world, rbf->to_local ); - m4x3_invert_affine( rbb->to_world, rbb->to_local ); - rb_update_bounds( rbf ); - rb_update_bounds( rbb ); +#if 0 + player.normal_pressure = v3_dot( phys->rb.up, phys->rb.v ); - rb_debug( rbf, 0xff00ffff ); - rb_debug( rbb, 0xffffff00 ); + { + float ideal = 1.0f-player.input_grab->axis.value, + diff = phys->spring - ideal, + Fspring = -k_cog_spring_lat * diff, + Fdamp = -k_cog_damp * phys->springv, + F = (Fspring + Fdamp) * k_rb_delta; - rb_ct manifold[64]; - int len = 0; + phys->springv += F; + phys->spring += phys->springv * k_rb_delta; - len += rb_sphere_scene( rbf, &world.rb_geo, manifold+len ); - len += rb_sphere_scene( rbb, &world.rb_geo, manifold+len ); + if( phys->springv > 0.0f ) + v3_muladds( phys->rb.v, phys->rb.up, F*k_cog_spring_vert, phys->rb.v ); - rb_presolve_contacts( manifold, len ); - v3f surface_avg = {0.0f, 0.0f, 0.0f}; + if( phys->in_air ) + player.normal_pressure = 0.0f; + else + player.normal_pressure = v3_dot( phys->rb.up, phys->rb.v ); + } +#endif - if( !len ) + if( player.input_grab->axis.value > 0.5f ) { - player_start_air(); + if( !phys->in_air ) + { + /* Throw */ + v3_muls( phys->rb.up, k_mmthrow_scale, phys->throw_v ); + } } else { - for( int i=0; irb.up, phys->throw_v ); + + v3f Fl, Fv; + v3_muladds( phys->throw_v, phys->rb.up, -doty, Fl ); + + if( !phys->in_air ) { - v3_add( manifold[i].n, surface_avg, surface_avg ); + v3_muladds( phys->rb.v, Fl, k_mmcollect_lat, phys->rb.v ); + v3_muladds( phys->throw_v, Fl, -k_mmcollect_lat, phys->throw_v ); } - v3_normalize( surface_avg ); + v3_muls( phys->rb.up, -doty, Fv ); + v3_muladds( phys->rb.v, Fv, k_mmcollect_vert, phys->rb.v ); + v3_muladds( phys->throw_v, Fv, k_mmcollect_vert, phys->throw_v ); - if( v3_dot( phys->rb.v, surface_avg ) > 0.5f ) - { - player_start_air(); - } - else - { - phys->in_air = 0; - } + v3_copy( Fl, player.debug_mmcollect_lat ); + v3_copy( Fv, player.debug_mmcollect_vert ); + } + + /* Decay */ + if( v3_length2( phys->throw_v ) > 0.0001f ) + { + v3f dir; + v3_copy( phys->throw_v, dir ); + v3_normalize( dir ); + + float max = v3_dot( dir, phys->throw_v ), + amt = vg_minf( k_mmdecay * k_rb_delta, max ); + + v3_muladds( phys->throw_v, dir, -amt, phys->throw_v ); + } + + + /* TODO: RElocate */ + { + + v3f ideal_cog, ideal_diff; + v3_muladds( phys->rb.co, phys->rb.up, + 1.0f-player.input_grab->axis.value, ideal_cog ); + v3_sub( ideal_cog, phys->cog, ideal_diff ); + + /* Apply velocities */ + v3f rv; + v3_sub( phys->rb.v, phys->cog_v, rv ); + + v3f F; + v3_muls( ideal_diff, -k_cog_spring * k_rb_rate, F ); + v3_muladds( F, rv, -k_cog_damp * k_rb_rate, F ); + + float ra = k_cog_mass_ratio, + rb = 1.0f-k_cog_mass_ratio; + + v3_muladds( phys->cog_v, F, -rb, phys->cog_v ); } - for( int j=0; j<5; j++ ) + /* + * EXPERIMENTAL + * =============================================== + */ + + for( int j=0; j<10; j++ ) { for( int i=0; irb.up, impulse ), - wx = v3_dot( phys->rb.right, impulse )*1.5f; + float wy = v3_dot( phys->rb.up, impulse ) * 0.8f, + wx = v3_dot( phys->rb.right, impulse )*1.0f; v3_muladds( phys->rb.w, phys->rb.up, wy, phys->rb.w ); v3_muladds( phys->rb.w, phys->rb.right, wx, phys->rb.w ); } } - - float grabt = vg_get_axis( "grab" )*0.5f+0.5f; - phys->grab = vg_lerpf( phys->grab, grabt, 0.14f ); - player.phys.pushing = 0.0f; - - if( !phys->in_air ) - { -#if 0 - v3f axis; - float angle = v3_dot( phys->rb.up, surface_avg ); - v3_cross( phys->rb.up, surface_avg, axis ); - - //float cz = v3_dot( player.rb.forward, axis ); - //v3_muls( player.rb.forward, cz, axis ); - - if( angle < 0.999f ) - { - v4f correction; - q_axis_angle( correction, axis, acosf(angle)*18.0f*VG_TIMESTEP_FIXED ); - q_mul( correction, phys->rb.q, phys->rb.q ); - } -#else - - /* 20/10/22: make this only go axisways instead, may effect velocities. */ - - v3f projected, axis; - - float d = v3_dot( phys->rb.forward, surface_avg ); - v3_muladds( surface_avg, phys->rb.forward, -d, projected ); - v3_normalize( projected ); - - float angle = v3_dot( phys->rb.up, projected ); - v3_cross( phys->rb.up, projected, axis ); - - v3f p0, p1; - v3_add( phys->rb.co, projected, p0 ); - v3_add( phys->rb.co, phys->rb.up, p1 ); - vg_line( phys->rb.co, p0, 0xff00ff00 ); - vg_line( phys->rb.co, p1, 0xff000fff ); - - if( fabsf(angle) < 0.999f ) - { - v4f correction; - q_axis_angle( correction, axis, acosf(angle)*4.0f*VG_TIMESTEP_FIXED ); - q_mul( correction, phys->rb.q, phys->rb.q ); - } - - -#endif - - float const DOWNFORCE = -k_downforce*VG_TIMESTEP_FIXED; - v3_muladds( phys->rb.v, phys->rb.up, DOWNFORCE, phys->rb.v ); - - player_physics_control(); - - if( !phys->jump_charge && phys->jump > 0.2f ) - { - v3f jumpdir; - - /* Launch more up if alignment is up else improve velocity */ - float aup = fabsf(v3_dot( (v3f){0.0f,1.0f,0.0f}, phys->rb.up )), - mod = 0.5f, - dir = mod + aup*(1.0f-mod); - - v3_copy( phys->rb.v, jumpdir ); - v3_normalize( jumpdir ); - v3_muls( jumpdir, 1.0f-dir, jumpdir ); - v3_muladds( jumpdir, phys->rb.up, dir, jumpdir ); - v3_normalize( jumpdir ); - - float force = k_jump_force*phys->jump; - v3_muladds( phys->rb.v, jumpdir, force, phys->rb.v ); - phys->jump = 0.0f; - - player.jump_time = vg.time; - - /* TODO: Move to audio file */ - audio_lock(); - audio_player_set_flags( &audio_player_extra, AUDIO_FLAG_SPACIAL_3D ); - audio_player_set_position( &audio_player_extra, phys->rb.co ); - audio_player_set_vol( &audio_player_extra, 20.0f ); - audio_player_playclip( &audio_player_extra, &audio_jumps[rand()%2] ); - audio_unlock(); - } - } - else - { - player_physics_control_air(); - } - - if( !phys->jump_charge ) - { - phys->jump -= k_jump_charge_speed * VG_TIMESTEP_FIXED; - } - - phys->jump_charge = 0; - phys->jump = vg_clampf( phys->jump, 0.0f, 1.0f ); + + /* early integrate this */ + phys->cog_v[1] += -9.8f * k_rb_delta; + v3_muladds( phys->cog, phys->cog_v, k_rb_delta, phys->cog ); } VG_STATIC void player_save_frame(void) @@ -634,12 +1338,20 @@ VG_STATIC void player_restore_frame(void) rb_update_transform( &player.phys.rb ); } -VG_STATIC void player_do_motion(void) +VG_STATIC void player_integrate(void) { struct player_phys *phys = &player.phys; + v3_sub( phys->rb.v, phys->v_last, phys->a ); + v3_muls( phys->a, 1.0f/VG_TIMESTEP_FIXED, phys->a ); + v3_copy( phys->rb.v, phys->v_last ); + + apply_gravity( phys->rb.v, VG_TIMESTEP_FIXED ); + v3_muladds( phys->rb.co, phys->rb.v, VG_TIMESTEP_FIXED, phys->rb.co ); +} - float horizontal = vg_get_axis("horizontal"), - vertical = vg_get_axis("vertical"); +VG_STATIC void player_do_motion(void) +{ + struct player_phys *phys = &player.phys; if( world.water.enabled ) { @@ -656,20 +1368,97 @@ VG_STATIC void player_do_motion(void) } } + v3f prevco; + v3_copy( phys->rb.co, prevco ); + if( phys->on_board ) - player_physics(); + { + rb_ct manifold[72]; + + player_regular_collider_configuration(); + int len = player_update_collision_manifold( manifold ); + int grind_col = player_update_grind_collision( &manifold[len] ); + + static int _grind_col_pre = 0; + + if( grind_col ) + { + phys->grind = 1; + v3f up = { 0.0f, 1.0f, 0.0f }; + float angle = v3_dot( phys->rb.up, up ); + + if( fabsf(angle) < 0.99f ) + { + v3f axis; + v3_cross( phys->rb.up, up, axis ); + + v4f correction; + q_axis_angle( correction, axis, + VG_TIMESTEP_FIXED * 10.0f * acosf(angle) ); + q_mul( correction, phys->rb.q, phys->rb.q ); + } + + float const DOWNFORCE = -k_downforce*1.2f*VG_TIMESTEP_FIXED; + v3_muladds( phys->rb.v, manifold[len].n, DOWNFORCE, phys->rb.v ); + m3x3_identity( phys->vr ); + m3x3_identity( phys->vr_pstep ); + + if( !_grind_col_pre ) + { + audio_lock(); + audio_player_set_flags( &audio_player_extra, + AUDIO_FLAG_SPACIAL_3D ); + audio_player_set_position( &audio_player_extra, phys->rb.co ); + audio_player_set_vol( &audio_player_extra, 20.0f ); + audio_player_playclip( &audio_player_extra, &audio_board[5] ); + audio_unlock(); + } + } + else + { + phys->grind = 0; + player_adhere_ground( manifold, len ); + + if( _grind_col_pre ) + { + audio_lock(); + audio_player_set_flags( &audio_player_extra, + AUDIO_FLAG_SPACIAL_3D ); + audio_player_set_position( &audio_player_extra, phys->rb.co ); + audio_player_set_vol( &audio_player_extra, 20.0f ); + audio_player_playclip( &audio_player_extra, &audio_board[6] ); + audio_unlock(); + } + } + + _grind_col_pre = grind_col; + + rb_presolve_contacts( manifold, len+ VG_MAX(0,grind_col) ); + player_collision_response( manifold, len+ VG_MAX(0,grind_col) ); + + player_physics_control_passive(); + + if( grind_col ) + { + phys->in_air = 0; + player_physics_control_grind(); + } + else + { + if( phys->in_air ) + player_physics_control_air(); + else + player_physics_control(); + } + + player_integrate(); + } else player_walk_physics(); - /* Integrate velocity */ - v3f prevco; - v3_copy( phys->rb.co, prevco ); - apply_gravity( phys->rb.v, VG_TIMESTEP_FIXED ); - v3_muladds( phys->rb.co, phys->rb.v, VG_TIMESTEP_FIXED, phys->rb.co ); - /* Real angular velocity integration */ - v3_lerp( phys->rb.w, (v3f){0.0f,0.0f,0.0f}, 0.125f, phys->rb.w ); + v3_lerp( phys->rb.w, (v3f){0.0f,0.0f,0.0f}, 0.125f*0.5f, phys->rb.w ); if( v3_length2( phys->rb.w ) > 0.0f ) { v4f rotation; @@ -703,12 +1492,23 @@ VG_STATIC void player_do_motion(void) if( gate_intersect( gate, phys->rb.co, prevco ) ) { m4x3_mulv( gate->transport, phys->rb.co, phys->rb.co ); + m4x3_mulv( gate->transport, phys->cog, phys->cog ); + m3x3_mulv( gate->transport, phys->cog_v, phys->cog_v ); m3x3_mulv( gate->transport, phys->rb.v, phys->rb.v ); m3x3_mulv( gate->transport, phys->vl, phys->vl ); m3x3_mulv( gate->transport, phys->v_last, phys->v_last ); m3x3_mulv( gate->transport, phys->m, phys->m ); m3x3_mulv( gate->transport, phys->bob, phys->bob ); + /* Pre-emptively edit the camera matrices so that the motion vectors + * are correct */ + m4x3f transport_i; + m4x4f transport_4; + m4x3_invert_affine( gate->transport, transport_i ); + m4x3_expand( transport_i, transport_4 ); + m4x4_mul( main_camera.mtx.pv, transport_4, main_camera.mtx.pv ); + m4x4_mul( main_camera.mtx.v, transport_4, main_camera.mtx.v ); + v4f transport_rotation; m3x3_q( gate->transport, transport_rotation ); q_mul( transport_rotation, phys->rb.q, phys->rb.q ); @@ -740,59 +1540,35 @@ VG_STATIC void player_do_motion(void) rb_update_transform( &phys->rb ); } -/* - * Free camera movement - */ -VG_STATIC void player_mouseview(void) -{ - if( ui_want_mouse() ) - return; - - static v2f mouse_last, - view_vel = { 0.0f, 0.0f }; - - if( vg_get_button_down( "primary" ) ) - v2_copy( vg.mouse, mouse_last ); - - else if( vg_get_button( "primary" ) ) - { - v2f delta; - v2_sub( vg.mouse, mouse_last, delta ); - v2_copy( vg.mouse, mouse_last ); - - v2_muladds( view_vel, delta, 0.06f*vg.time_delta, view_vel ); - } - - v2_muls( view_vel, 1.0f-4.2f*vg.time_delta, view_vel ); - v2_add( view_vel, player.angles, player.angles ); - player.angles[1] = vg_clampf( player.angles[1], -VG_PIf*0.5f, VG_PIf*0.5f ); -} - VG_STATIC void player_freecam(void) { player_mouseview(); - float movespeed = fc_speed; + float movespeed = fc_speed * VG_TIMESTEP_FIXED; v3f lookdir = { 0.0f, 0.0f, -1.0f }, sidedir = { 1.0f, 0.0f, 0.0f }; - m3x3_mulv( camera_mtx, lookdir, lookdir ); - m3x3_mulv( camera_mtx, sidedir, sidedir ); + m3x3_mulv( main_camera.transform, lookdir, lookdir ); + m3x3_mulv( main_camera.transform, sidedir, sidedir ); static v3f move_vel = { 0.0f, 0.0f, 0.0f }; - if( vg_get_button( "forward" ) ) - v3_muladds( move_vel, lookdir, VG_TIMESTEP_FIXED * movespeed, move_vel ); - if( vg_get_button( "back" ) ) - v3_muladds( move_vel, lookdir, VG_TIMESTEP_FIXED *-movespeed, move_vel ); - if( vg_get_button( "left" ) ) - v3_muladds( move_vel, sidedir, VG_TIMESTEP_FIXED *-movespeed, move_vel ); - if( vg_get_button( "right" ) ) - v3_muladds( move_vel, sidedir, VG_TIMESTEP_FIXED * movespeed, move_vel ); + + v2f steer = { player.input_js1h->axis.value, + player.input_js1v->axis.value }; + + v3_muladds( move_vel, sidedir, movespeed*steer[0], move_vel ); + v3_muladds( move_vel, lookdir, -movespeed*steer[1], move_vel ); v3_muls( move_vel, 0.7f, move_vel ); v3_add( move_vel, player.camera_pos, player.camera_pos ); } +VG_STATIC int kill_player( int argc, char const *argv[] ) +{ + player_kill(); + return 0; +} + VG_STATIC int reset_player( int argc, char const *argv[] ) { struct player_phys *phys = &player.phys; @@ -835,6 +1611,13 @@ VG_STATIC int reset_player( int argc, char const *argv[] ) if( !rp ) { vg_error( "No spawn found\n" ); + vg_info( "Player position: %f %f %f\n", player.phys.rb.co[0], + player.phys.rb.co[1], + player.phys.rb.co[2] ); + vg_info( "Player velocity: %f %f %f\n", player.phys.rb.v[0], + player.phys.rb.v[1], + player.phys.rb.v[2] ); + if( !world.spawn_count ) return 0; @@ -848,10 +1631,12 @@ VG_STATIC int reset_player( int argc, char const *argv[] ) v3f delta = {1.0f,0.0f,0.0f}; m3x3_mulv( the_long_way, delta, delta ); - - player.angles[0] = atan2f( delta[0], -delta[2] ); - player.angles[1] = -asinf( delta[1] ); - + + if( !freecam ) + { + player.angles[0] = atan2f( delta[0], -delta[2] ); + player.angles[1] = -asinf( delta[1] ); + } v4_copy( rp->q, phys->rb.q ); v3_copy( rp->co, phys->rb.co ); @@ -867,8 +1652,64 @@ VG_STATIC int reset_player( int argc, char const *argv[] ) player.mdl.shoes[1] = 1; rb_update_transform( &phys->rb ); + + v3_add( phys->rb.up, phys->rb.co, phys->cog ); + v3_zero( phys->cog_v ); + player_save_frame(); return 1; } +VG_STATIC void reset_player_poll( int argc, char const *argv[] ) +{ + if( argc == 1 ) + { + for( int i=0; iname, argv[argc-1], 0 ); + } + } +} + +VG_STATIC void player_physics_gui(void) +{ + return; + + vg_uictx.cursor[0] = 0; + vg_uictx.cursor[1] = vg.window_y - 128; + vg_uictx.cursor[3] = 14; + ui_fill_x(); + + char buf[128]; + + snprintf( buf, 127, "v: %6.3f %6.3f %6.3f\n", player.phys.rb.v[0], + player.phys.rb.v[1], + player.phys.rb.v[2] ); + + ui_text( vg_uictx.cursor, buf, 1, 0 ); + vg_uictx.cursor[1] += 14; + + + snprintf( buf, 127, "a: %6.3f %6.3f %6.3f (%6.3f)\n", player.phys.a[0], + player.phys.a[1], + player.phys.a[2], + v3_length(player.phys.a)); + ui_text( vg_uictx.cursor, buf, 1, 0 ); + vg_uictx.cursor[1] += 14; + + float normal_acceleration = v3_dot( player.phys.a, player.phys.rb.up ); + snprintf( buf, 127, "Normal acceleration: %6.3f\n", normal_acceleration ); + + ui_text( vg_uictx.cursor, buf, 1, 0 ); + vg_uictx.cursor[1] += 14; + + snprintf( buf, 127, "Normal Pressure: %6.3f\n", player.normal_pressure ); + ui_text( vg_uictx.cursor, buf, 1, 0 ); + vg_uictx.cursor[1] += 14; + + +} + #endif /* PLAYER_PHYSICS_H */